Does rack & pinion come with upper & lower arms

The steering gear will not come with control arms. As a note, your Fusion does not have "upper control arms" - only lower ones. The Strut style shock absorbers take the place of "upper" arms. I see no need to replace control arms if they are not in question. Do you mean "inner and outer tie rod ends" perhaps? Most steering gears that you purchase as remanufactured units come with inner tie rods, but not outer.